Continuous-Curvature Paths for Mobile Robots
نویسندگان
چکیده
This paper discusses how to plan continuous-curvature paths for carlike wheeled mobile robots. The task is to generate a trajectory with upper-bounded curvature and curvature derivative. To solve this problem we use three path planning primitives, namely straight line segments, circular segments, and continuous-curvature turns (CC turns) in the path planning. We give a classification of the CC turns and we also describe the motion along different kind of CC turns. We focus on giving computational effective formulae for real-time usage.
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